I've seen low voltage cause many running issues. When the car is cold its obviously been sitting for awhile without the battery being charged by the alternator. When It's warm It's the exact opposite. The Car os Either charging or has residual voltage in the system.

So that's why it would happen when It's cold. And yes with low voltage everything is starved for power. You can have such a weak spark that It's actually off timing.

And after thinking about yeah rubber shrinks with heat. Like shrink wraping lol. But most gaskets aren't rubber.